/*
 * ball_catcher.cc
 *
 * Implementation of the strategy to catch a ball
 */

#ifndef BALL_CATCHER_H_
#define BALL_CATCHER_H_

#include "xtask.h"
#include "xqueue.h"
#include "log.h"
#include "ir_manager.h"
#include "robo_control.h"
#include "modules/Vision/VisionManager.h"
#include <cmath>


using namespace kthrobot;
using namespace std;

namespace Group5 {


    class BallCatcher : public XTask {
    public:
        BallCatcher(Robo_Control* motor1, Robo_Control* motor2);
        virtual ~BallCatcher();
        void TaskCode();

    private:
        static const int hz_ = 2;
        static const int BASE_SPEED = 2;
        static const int MAXWIDTH = 100;

        Robo_Control *motor1_, *motor2_;
    };
};

#endif /* BALL_CATCHER_H_ */
